带任意阶非完整约束的力学系统的广义能量积分和广义Whittaker方程

GENERALIZED ENERGY INTEGRAL AND GENERALIZED WHITTAKER EQUATIONS OF MECHANICAL SYSTEMS WITH NONHOLONOMIC CONSTRAINTS OF ARBITRARY ORDER

本文给出带任意阶非完整约束的力学系统存在广义能量积分的条件并利用能量积分推导广义Whittaker方程,从而对任意阶非完整约束系统的运动方程进行降阶。

This paper gives the existence conditions of the generalized energy integral for systems with nonholonomic constraints of arbitrary order. The paper makes use of the generalized energy integrdl to obtain the generalized Whittaker equations, so as to reduce the numbers of order in the equations of motion for systems with nonholonomic constraints of arbitrary order.